Robustness of PD control for transporting quadrotor with payload uncertainties
http://ieeexplore.ieee.org/document/8011844/
Abstract:
Considering its agility and capability to vertical take-off and landing, quadrotor is beneficial for transporting missions. In this paper we present a model of a transporting quadrotor with payload uncertainties, as well as its corresponding proportional-derivative (PD) control on Special Orthogonal-3. Practically, it is a challenging problem to compensate the inertia perturbation due to the uncertainties of the payload that is transported. It is where our proposed control law comes to urge. Finally, numerical simulation and results are presented to verify the effectiveness of our proposed control law.
- Published in: Science and Technology - Computer (ICST), 2017 3rd International Conference on
- Date of Conference: 11-12 July 2017
- Date Added to IEEE Xplore: 17 August 2017
- INSPEC Accession Number: 17103099
- DOI: 10.1109/ICSTC.2017.8011844
- Publisher: IEEE
Keywords:
IEEE Keywords:
Mathematical model, Payloads, PD control, Symmetric matrices, Uncertainty, Rotors, Numerical simulation.
INSPEC: Controlled Indexing
autonomous aerial vehicles, helicopters, PD control, robust control.
INSPEC: Non-Controlled Indexing
PD control, proportional-derivative control, quadrotor, payload uncertainties, mission transportation, special orthogonal-3, control law, inertia perturbation.
Author Keywords:
transporting quadrotor, mathematical model, PD control, SO(3) group.
Conference call IEEE.